The temp table will be dropped as soon as the procedure that created it ends, whether it ends successfully or not does not matter. There's nothing you need to do, the temp tables are cleaned up automatically.
There's no way to identify which session created a temp table and you cannot drop one that you did not create.
Gail Shaw
Microsoft Certified Master: SQL Server, MVP, M.Sc (Comp Sci)
SQL In The Wild: Discussions on DB performance with occasional diversions into recoverability